Payload mounting platform

ABSTRACT

An apparatus for supporting a payload includes a payload mount configured to be coupled to the payload to secure the payload, a first support member coupled to the payload mount, a second support member coupled to the first support member, and a single flexible member. The first support member includes a first actuation unit configured to rotate the payload mount around a first rotational axis relative to the first support member. The second support member includes a second actuation unit configured to rotate the first support member around a second rotational axis relative to the second support member. The single flexible member includes a branched configuration and is configured to be electrically coupled to the payload mount, the first actuation unit, and the second actuation unit. The first support member or the second support member includes a winding portion configured to engage the single flexible member.

CROSS-REFERENCE

This application is a continuation application of U.S. patentapplication Ser. No. 16/783,586, filed on Feb. 6, 2020, which is acontinuation application of U.S. patent application Ser. No. 16/247,066,filed on Jan. 14, 2019, now U.S. Pat. No. 10,556,708, which is acontinuation application of U.S. patent application Ser. No. 15/605,892,filed on May 25, 2017, now U.S. Pat. No. 10,179,658, which is acontinuation application of U.S. patent application Ser. No. 14/877,435,filed on Oct. 7, 2015, now U.S. Pat. No. 9,663,245, which is acontinuation application of International Application No.PCT/CN2014/073725, filed on Mar. 19, 2014, which claims the benefit ofthe following applications: Chinese Application No. 201310109629.5,Chinese Application No. 201310109643.5, Chinese Application No.201310109693.3, Chinese Application No. 201310109707.1, and ChineseApplication No. 201310109706.7, all filed on Mar. 31, 2013. Thedisclosures of each of these applications are hereby incorporated byreference in their entirety.

BACKGROUND

Movable objects such as unmanned aerial vehicles can be used forperforming surveillance, reconnaissance, and exploration tasks formilitary and civilian applications. Such vehicles may carry a payloadconfigured to perform a specific function. Typically, the payload iscoupled to the vehicle via a suitable mounting platform, which may beused to control the spatial disposition (e.g., position and/ororientation of the payload). For example, an unmanned aerial vehicleused for aerial photography may be equipped with a gimbal for carrying acamera.

In some instances, the design of existing mounting platforms may be lessthan optimal. For example, existing platforms may be relatively largeand heavy, which may be disadvantageous for use in aerial vehicle-basedapplications. Additionally, the electrical couplings of existingmounting platforms may utilize wires or cables that become easilyentangled, thus interfering with the operation of the platform.Furthermore, drive controllers for existing platforms may operatewithout the use of feedback mechanisms, which may reduce the overalldriving precision.

SUMMARY

The systems, devices, and methods described herein relate to improvedmounting platforms used for coupling a payload to a movable object. Amounting platform can include a plurality of support members forcoupling and rotating a payload mount used to secure a payload. Aflexible member can be used to electrically couple various components ofthe mounting platform, such as the support members and/or the payloadmount. In some embodiments, the flexible member is wound aroundspecified portions of the platform, such that rotation of the componentsof the platform relative to each other (e.g., the support members,payload mount) causes the flexible member to wind or unwind in anorderly fashion. Furthermore, sensors can be integrated into the supportmembers and/or payload mount so as to provide feedback for controllingthe rotation of the platform components described herein. The techniquesdescribed herein can be used to provide a compact mounting platformdesign that rotates smoothly and precisely, thus providing improvedcontrol of the spatial disposition of a coupled payload.

Thus, in one aspect, an apparatus for supporting a payload is provided.The apparatus comprises: a first support member coupled to the payloadand configured to rotate the payload; a second support member coupled tothe first support member and configured to rotate the first supportmember relative to the second support member; and a flexible memberelectrically coupling the first and second support members, wherein alength of the flexible member winds around a portion of the firstsupport member or second support member, such that the length winds uparound the portion when the first support member is rotated in a firstdirection and unwinds from the portion when the first support member isrotated in a second direction.

In some embodiments, the first support member can include a firstactuation unit configured to rotate the payload. The second supportmember can include a second actuation unit configured to rotate thefirst support member relative to the second support member. The flexiblemember can electrically couple the first and second actuation units.

In some embodiments, the first support member can rotate the payloadabout a first rotational axis and the second support member can rotatethe first support member about a second rotational axis different fromthe first rotational axis. The first and second rotational axes can beselected from two of the following: a roll axis, a pitch axis, or a yawaxis. The first and second rotational axes can intersect.

In some embodiments, the payload can include a camera or a microphone.The flexible member can be a flexible printed circuit, electrical wire,or flat cable.

In some embodiments, rotation of the first support member along at leastone of the first and second directions can be constrained by stops. Thestops can be situated on the second support member. The positioning ofthe stops can determine a maximum rotation angle along said at least oneof the first and second directions.

In another aspect, a method for supporting a payload comprises:providing the aforementioned apparatus; and rotating the first supportmember relative to the second support member along the first directionor the second direction.

In another aspect, an unmanned aerial vehicle comprises: a vehicle bodycarrying the aforementioned apparatus; and a payload coupled to thefirst support member of the apparatus.

In another aspect, an apparatus for supporting a payload is provided.The apparatus comprises: a payload mount configured to mechanicallycouple to the payload; a first support member coupled to the payloadmount and configured to rotate the payload mount relative to the firstsupport member; and a flexible member electrically coupling the firstsupport member and the payload mount, wherein a length of the flexiblemember winds around a portion of the first support member or the payloadmount, such that the length winds up around the portion when the payloadmount is rotated in a first direction and unwinds from the portion whenthe payload mount is rotated in a second direction.

In some embodiments, the first support member can include a firstactuation unit configured to rotate the payload mount relative to thefirst support member. The flexible member can electrically couple thefirst actuation unit to the payload mount. The first support member canrotate the payload mount about a roll axis, a pitch axis, or a yaw axis.

In some embodiments, the payload can include a camera or a microphone.The payload can be releasably coupled to the payload mount. The payloadmount can include a detection module configured to detect a spatialdisposition of the payload. The payload can be electrically coupled tothe payload mount. The flexible member can be a flexible printedcircuit, electrical wire, or flat cable.

In another aspect, a method for supporting a payload comprises:providing the aforementioned apparatus; and rotating the payload mountrelative to the first support member along the first direction or thesecond direction.

In another aspect, an unmanned aerial vehicle comprises: a vehicle bodycarrying the aforementioned apparatus; and a payload coupled to thepayload mount of the apparatus.

In another aspect, an apparatus for supporting a payload mount isprovided. The apparatus comprises: a payload mount configured tomechanically couple to the payload; a first support member coupled tothe payload mount and configured to rotate the payload mount relative tothe first support member; a second support member coupled to the firstsupport member and configured to rotate the first support memberrelative to the second support member; and a flexible memberelectrically coupling the first support member, second support member,and the payload mount, wherein a first length of the flexible memberwinds around a distal portion of the first support member or a proximalportion of the payload mount, and rotation of the payload mount relativeto the first support member causes winding or unwinding of the secondlength around the distal portion of the first support member of theproximal portion of the payload mount; and wherein a second length ofthe flexible member winds around a proximal portion of the first supportmember or a distal portion of the second support member, and rotation ofthe first support member relative to the second support member causeswinding or unwinding of the first length around the proximal portion ofthe first support member of the distal portion of the second supportmember.

In some embodiments, the proximal portion of the payload mount can becoupled to the distal portion of the first support member, and theproximal portion of the first support member can be coupled to thedistal portion of the second support member. The first support membercan include a first actuation unit configured to rotate the payloadmount relative to the first support unit. The second support member caninclude a second actuation unit configured to rotate the payload mountrelative to the first support unit. The flexible member can electricallycouple the first actuation unit, second actuation unit, and the payloadmount.

In some embodiments, the first support member can rotate the payloadabout a first rotational axis and the second support member can rotatethe first support member about a second rotational axis different fromthe first rotational axis. The first and second rotational axes can beselected from two of the following: a roll axis, a pitch axis, or a yawaxis.

In some embodiments, the payload can include a camera or a microphone.The flexible member can be a flexible printed circuit, electrical wire,or flat cable.

In some embodiments, the payload mount can include a detection moduleconfigured to detect a spatial disposition of the payload. The payloadcan be electrically coupled to the payload mount.

In another aspect, a method for supporting a payload comprises:providing the aforementioned apparatus; rotating the first supportmember relative to the second support member; and rotating the payloadmount relative to the first support member.

In another aspect, an unmanned aerial vehicle comprises: a vehicle bodycarrying the aforementioned apparatus; and a payload coupled to thepayload mount of the apparatus.

It shall be understood that different aspects of the disclosure can beappreciated individually, collectively, or in combination with eachother. Various aspects of the disclosure described herein may be appliedto any of the particular applications set forth below or for any othertypes of movable objects. Any description herein of movable objects,such as an aerial vehicle, may apply to and be used for any movableobject, such as any vehicle. Additionally, the systems, devices, andmethods disclosed herein in the context of aerial motion (e.g., flight)may also be applied in the context of other types of motion, such asmovement on the ground or on water, underwater motion, or motion inspace.

Other objects and features of the present disclosure will becomeapparent by a review of the specification, claims, and appended figures.

INCORPORATION BY REFERENCE

All publications, patents, and patent applications mentioned in thisspecification are herein incorporated by reference to the same extent asif each individual publication, patent, or patent application wasspecifically and individually indicated to be incorporated by reference.

BRIEF DESCRIPTION OF THE DRAWINGS

The novel features of the invention are set forth with particularity inthe appended claims. A better understanding of the features andadvantages of the present disclosure will be obtained by reference tothe following detailed description that sets forth illustrativeembodiments, in which the principles of the disclosure are utilized, andthe accompanying drawings of which:

FIG. 1A illustrates an electromechanical rotary coupling, in accordancewith embodiments;

FIGS. 1B through 1D illustrate cross-sectional views of various windingportions for rotary couplings, in accordance with embodiments;

FIG. 2 illustrates a mounting platform for supporting a payload, inaccordance with embodiments;

FIG. 3 illustrates a flexible member of a mounting platform, inaccordance with embodiments;

FIG. 4 illustrates a payload mount of a mounting platform, in accordancewith embodiments;

FIG. 5 illustrates an exploded view of a first support member of amounting platform, in accordance with many embodiments;

FIG. 6 illustrates a payload mount coupled to a first support member, inaccordance with many embodiments;

FIG. 7 illustrates an exploded view of a second support member of amounting platform, in accordance with many embodiments;

FIG. 8 illustrates a first support member coupled to a second supportmember, in accordance with many embodiments;

FIG. 9 illustrates a portion of the flexible member wound around thefirst rotation shaft.

FIGS. 10A and 10B illustrate cross-sectional views of constrainedrotation of a first support member, in accordance with many embodiments;

FIG. 11 is a schematic illustration of a control scheme for a mountingplatform, in accordance with many embodiments;

FIG. 12 illustrates an unmanned aerial vehicle, in accordance withembodiments;

FIG. 13 illustrates a movable object including a carrier and a payload,in accordance with embodiments; and

FIG. 14 is a schematic illustration by way of block diagram of a systemfor controlling a movable object, in accordance with embodiments.

DETAILED DESCRIPTION

The systems, devices, and methods of the present disclosure provideimproved mounting platforms for coupling a payload to a movable object,such as an unmanned aerial vehicle (UAV). The mounting platformsdescribed herein can include a payload mount for supporting the payload,a plurality of support members enabling rotation of the payload mount,and a flexible member electrically coupling at least some of the supportmembers and/or payload mount. In contrast to existing “double arm”mounting platforms, which typically utilize a pair of support memberscoupled to opposite sides of a payload to rotate the payload, the“single arm” mounting platforms described herein rotate the payloadusing a single support member coupled to one side of the payload mount,thereby providing a more compact and lightweight platform. Additionally,it can be very difficult to achieve precise and accurate alignment ofthe paired support members in a double arm platform, which may result inreduced precision of payload rotation and increased rotational friction.The single arm platforms described herein avoid this problem and thusmay provide improved control over payload orientation. Furthermore, theflexible member can be configured to wind or unwind about a portion ofthe support members and/or payload, thus preventing the flexible memberfrom becoming entangled as these components rotate relative to eachother.

For example, a mounting platform can be used to mount a payload, such asan imaging device, to a UAV. The mounting platform can include at leasttwo support members used to control the spatial disposition of a payloadmount securing the imaging device relative so as to control theorientation of the imaging device relative to the UAV with respect to atleast two degrees of freedom. A flexible member can be used to couplethe support members and the payload mount, thus enabling thetransmission of power and/or data between these components. In someembodiments, the data may include position data that can be used asfeedback for controlling the rotation of the support members and/orpayload mount.

Thus, in one aspect, the present disclosure provides an apparatus forsupporting a payload having one or more of the following uniquefeatures. In some embodiments, the apparatus can include a payload mountconfigured to mechanically couple to the payload; a first support membercoupled to the payload mount and configured to rotate the payload mountrelative to the first support member; a second support member coupled tothe first support member and configured to rotate the first supportmember relative to the second support member; and a flexible memberelectrically coupling the first support member, second support member,and the payload mount. A first length of the flexible member may windaround a proximal portion of the first support member or a distalportion of the second support member, and rotation of the first supportmember relative to the second support member causes winding or unwindingof the first length around the proximal portion of the first supportmember of the distal portion of the second support member. A secondlength of the flexible member may wind around a distal portion of thefirst support member or a proximal portion of the payload mount, androtation of the payload mount relative to the first support membercauses winding or unwinding of the second length around the distalportion of the first support member of the proximal portion of thepayload mount.

A payload of the present disclosure can include non-living entities(e.g., cargo, equipment, instruments) as well as living entities (e.g.,passengers). The payload may be configured not to perform any operationor function. Alternatively, the payload can be a payload configured toperform an operation or function, also known as a functional payload.For example, the payload can include one or more sensors for surveyingone or more targets. Any suitable sensor can be incorporated into thepayload, such as an imaging device (e.g., a camera such as a mirrorlessinterchangeable lens camera or video camera, a mobile device including acamera such as a smartphone), an audio capture device (e.g., amicrophone such as a parabolic microphone), an infrared imaging device,or an ultraviolet imaging device. The sensor can provide static sensingdata (e.g., a photograph) or dynamic sensing data (e.g., a video). Insome embodiments, the sensor provides sensing data for an objecttargeted by the payload (e.g., an object targeted for surveillance).Alternatively or in combination, the payload can include one or moreemitters for providing signals to one or more targets. Any suitableemitter can be used, such as an illumination source or a sound source.In some embodiments, the payload includes one or more transceivers, suchas for communication with a remote entity. Optionally, the payload canbe configured to interact with the environment or a target. For example,the payload can include a tool, instrument, or mechanism capable ofmanipulating objects, such as a robotic arm.

In some embodiments, the payload can be carried by a movable object. Themovable object can be configured to support some or all of the weight ofthe payload. The payload can be coupled to the movable object using amounting platform, which may also be referred to herein as a “carrier”or a “gimbal assembly.” The mounting platform can be coupled to themovable object, either directly or indirectly, and the coupling may be apermanent coupling or a releasable coupling. The coupling between themovable object and the mounting platform may permit motion of themounting platform relative to the movable object (e.g., up to threedegrees of freedom in translation and/or up to three degrees of freedomin rotation). Alternatively, the spatial disposition of the mountingplatform may be fixed relative to the movable object.

The payload may be integrally formed with the mounting platform.Alternatively, the payload provided separately from and coupled to themounting platform. The coupling may be a permanent coupling or areleasable coupling. For example, the payload may be coupled to themounting platform using adhesives, bonding, welding, fasteners (e.g.,screws, nuts, bolts, pins), interference fits, snap fits, and the like.The coupling may fix the payload at specified position and/ororientation relative to the mounting platform. Alternatively, thecoupling may permit movement of the payload with respect to the mountingplatform (e.g., with up to six degrees of freedom of motion). In someembodiments, the payload can be indirectly coupled to the mountingplatform, such as via a payload mount. The payload mount can be abracket, frame, cradle, clamp, or any other suitable device adapted tosecure and support the payload. In some embodiments, the payload mountmay also electrically couple the payload, as described below.

The mounting platform can be configured to control a state of thepayload, such as the spatial disposition of the payload (e.g., positionand/or orientation), movement of the payload (e.g., translationalvelocity and/or acceleration with up to three degrees of freedom,rotational velocity and/or acceleration with up to three degrees offreedom). The mounting platform may directly manipulate the payload, ormay indirectly control the spatial disposition of the payload bycontrolling the spatial disposition of a payload mount supporting thepayload. For example, the mounting platform may include one or moresupport members (e.g., arms, frames, gimbals, or other supportingdevices) directing the movement of the payload and/or payload mountrelative to the movable object. Any description herein relating tomovement of a payload can also be applied to movement of a payload mountsecuring the payload, or vice-versa. In some embodiments, the mountingplatform can permit the payload to move relative to the movable object(e.g., with respect to one, two, or three degrees of translation and/orone, two, or three degrees of rotation). Conversely, the mountingplatform can constrain the movement of the payload relative to themovable object along one or more directions. For example, the mountingplatform can maintain the payload at a specified position and/ororientation. As another example, the mounting platform can be configuredto move relative to the movable object (e.g., with respect to one, two,or three degrees of translation and/or one, two, or three degrees ofrotation) such that the payload maintains its position and/ororientation relative to a suitable reference frame regardless of themovement of the movable object. The reference frame can be a fixedreference frame (e.g., the surrounding environment). Alternatively, thereference frame can be a moving reference frame (e.g., the movableobject, a payload target). In some embodiments, the mounting platformcan be adapted to reduce or prevent certain movements of the payload.For example, the mounting platform may include one or more stabilizingelements (e.g., dampers) for reducing or eliminating unwanted motions ofthe payload (e.g., shaking and/or vibrations).

In some embodiments, when the payload is an imaging device, the mountingplatform can be configured to control a field of view of the imagingdevice. The mounting platform may control the field of view bycontrolling the spatial disposition of the imaging device, as describedabove. Alternatively or in addition, the field of view can be changed bycontrolling suitable functions of the imaging device, such as bycontrolling the zoom level, viewing angle, focus, etc. of the imagingdevice.

The mounting platforms described herein may include one or more rotarycouplings. A rotary coupling can be used to mechanically couple anynumber of components, such as two, three, four, five, or morecomponents. Rotary couplings can be used to join at least one stationarycomponent and at least one rotating component, or two or more componentsthat rotate relative to each other. For example, rotary couplings can beused to join two support members of a mounting platform, or a supportmember and a payload mount, as discussed below. In some embodiments, therotary couplings may be electromechanical rotary couplings enabling thetransmission of electrical signals across the rotary interface. Theelectrical signals can be transmitted between the coupled components.Alternatively or in addition, an electromechanical rotary coupling mayenable electrical signals to be transmitted between at least one of thecoupled components and another component separate from the coupledcomponents. The separate component may or may not be coupled (e.g.,directly or indirectly) to one or more components of theelectromechanical rotary coupling. At least one of the coupledcomponents may rotate relative to the separate component. Some examplesof electrical signals that may be transmitted via an electromechanicalrotary coupling include power signals, control signals, or signalsrepresentative of data (e.g., data provided by a payload such as imagedata), as described in further detail below. The electrical signals canbe transmitted via electrical connecting elements, such as wires,cables, pins, sockets, contacts, circuit boards, and the like. Some orall of the electrical connecting elements may rotate along with therotation of the rotary coupling, thereby enabling continuoustransmission of electrical signals during operation of the mountingplatform.

FIG. 1A illustrates an electromechanical rotary coupling 100 suitablefor use with any of the mounting platforms described herein, inaccordance with embodiments. The coupling 100 can include a first member102 and a second member 104 coupled to the first member 102. The firstmember 102 can be directly coupled to the second member 104.Alternatively, the first and second member 102, 104 can be separated bya distance and indirectly coupled via one or more interveningcomponents. The first member 102 can be stationary and the second member104 can be configured to rotate relative to the first member 102, orvice-versa. Conversely, in some embodiments, the first and second member102, 104 can both rotate relative to each other. The first member 102can support at least some of the weight of the second member 104, orvice-versa. In some instances, the first and second members 102, 104 caneach be a portion of a rotating component of a mounting platform, suchthat the coupling 100 is a rotary joint or interface of the mountingplatform.

The coupling 100 can include a flexible member 106, which can be anysuitable connecting element enabling electrical communication (e.g., ofpower, data, etc.), such as electrical wires, electrical cables, flatcables, coaxial cables, ribbon cables, or flexible printed circuitboards (PCBs). The flexible member 106 can include one or moreconductive elements supported by one or more insulating elements. Theconductive elements may be embedded within, enclosed by, or disposedupon the insulating elements. The conductivity of the conductiveelements may be greater than the conductivity of the insulatingelements, such that electrical signals are transmitted through theconductive elements. The flexible member 106 can include a first end108, a second end 110, and a length 112 extending between the first andsecond ends 108, 110. In some instances, the flexible member 106 can beformed in an “L” shape, with the first end 108 extending perpendicularlyfrom the length 112. The first end 108 can be coupled to the secondmember 104, and the second end 110 can be coupled to another component(e.g., of a mounting platform having the rotary coupling 100) (notshown), thereby placing it in electrical communication with the secondmember 104.

In some embodiments, the length 112 of the flexible member 106 ispre-wound around a portion of the first member 102 and/or second member104. Accordingly, as the second member 104 rotates relative to the firstmember 102 in a first direction X, the length 112 can be wound up aroundthe portion, and as the second member 104 rotates relative to the firstmember 102 in a second direction Y, the length 112 can be at leastpartially unwound from the portion. The directions X and Y may beopposite rotational directions (e.g., clockwise and counterclockwisedirections, respectively, or vice-versa). The winding and unwinding ofthe length 112 caused by the rotation of the second member 104 relativeto the first member 102 may occur in an orderly manner along atrajectory defined by the pre-wound configuration of the length 112,thereby reducing the likelihood of the flexible member 106 becomingentangled during operation of the rotary coupling 100.

As previously mentioned, the flexible member 106 can be wound around aportion of the first member 102, second member 104, or both. Thisportion, which may be referred to herein as a “winding portion,” can behave any geometry suitable for engaging the flexible member 106. FIG. 1Billustrates a cross-sectional view of a winding portion 120 suitable foruse with the rotary electromechanical couplings described herein, inaccordance with embodiments. The winding portion 120 can include anupper surface 122, a lower surface 124 opposite the upper surface 122,and a lateral wall 126 connecting the upper and lower surfaces 122, 124.A flexible member can be wound around one or more exterior surfaces ofthe winding portion 120, such as around the upper surface 122, lowersurface 124, and/or lateral wall 126. The geometry of the windingportion 120, as with any of the winding portions described herein, canbe selected to accommodate the properties of the flexible member. Forexample, the perimeter of the winding portion 120 can be selected basedon a minimum bending radius of the flexible member. The minimum bendingradius may be the minimum radius to which the flexible member can bebent without damaging or destroying the flexible member, and may beinfluenced by the material properties (e.g., stiffness) of the flexiblemember.

FIG. 1C illustrates a cross-sectional view of a winding portion 130, inaccordance with embodiments. The winding portion 130 can have an uppersurface 132, lower surface 134 opposite the upper surface 132, and alateral wall 136 connecting the upper and lower surfaces 132, 134. Thelateral wall 136 can be shaped to define a cavity 138 extending from theupper surface 132 towards the lower surface 134. The cavity 138 may ormay not be connected to the lower surface 134. A flexible member can bewound around the winding portion 130 such that a length of the flexiblemember is received within the cavity 138. In some instances, the motionof the flexible member can be constrained to within the cavity 138, soas to limit the overall amount of space occupied by the winding portion130 and the flexible member.

FIG. 1D illustrates a cross-sectional view of a winding portion 140, inaccordance with embodiments. Similar to the winding portion 130, thewinding portion 140 can include an upper surface 142, lower surface 144,lateral wall 146, and cavity 148. The cavity 148 can include a bottomportion 150 adjacent the lower surface 144, and a wall 152 extendingfrom the bottom portion 150 towards the upper surface 142. A shaft 154can be disposed within the cavity 148. For example, the shaft 154 can becoupled to the bottom portion 150 of the cavity 148 extending upwards,parallel or approximately parallel to the wall 152. A flexible membercan be received within the cavity 148 and wound around the shaft 154. Insome instances, the stiffness of the flexible member can be selectedsuch that the flexible member contacts the wall 152 when wound aroundthe shaft 154. The motion of the flexible member can be constrained bythe bottom portion 150, wall 152, and shaft 154 of the cavity 148. Thisdesign can be used to reduce the amount of space occupied by the windingportion 140 and flexible member, thereby enabling more compact rotarycouplings.

The electromechanical rotary couplings described herein can be used totransmit electrical signals (e.g., power signals, control signals, data)across a rotary interface in which at least one component is rotatingrelative to another component. In contrast to conventionalelectromechanical rotary couplings, such as slip rings, the couplingsdescribed herein can be small, compact, and simple to implement, therebyreducing the size and cost of such couplings. Furthermore, as previouslymentioned, the pre-wound arrangement of the flexible member of theseelectromechanical rotary couplings may prevent entanglement, therebyensuring smooth operation of the rotary coupling during repeatedrotational maneuvers.

FIGS. 2-10 illustrate a mounting platform 1000 for supporting a payload1, in accordance with embodiments. Although the payload 1 is depicted asa camera, the mounting platform 1000 can be used to support any suitablepayload, and any description herein relating to cameras or imagingdevices can be applied to other types of payloads, and vice-versa. Thepayload 1 can be mechanically coupled by a payload mount 3. The payloadmount 3 can be rotatably coupled to a first support member 6, and thefirst support member 6 can be rotatably coupled to a second supportmember 4 (see, e.g., FIG. 2). The second support member 4 can be coupledto a movable object (not shown), such as a UAV. The first support member6, second support member 4, and payload mount 3 can be coupled in anysequence and configuration. For instance, a proximal portion of thepayload mount 3 can be coupled to a distal portion of the first supportmember 6, a proximal portion of the first support member 6 can becoupled to a distal portion of the second support member 4, and aproximal portion of the second support member 4 can be coupled to themovable object. “Proximal” and “distal” may be used herein to refer toportions of the mounting platform 1000 closer to and farther from themovable object, respectively.

The first support member 6 can rotate the payload mount 3 and payload 1relative to the first support member 6. The second support member 4 canrotate the first support member 6, payload mount 3, and payload 1relative to the second support member 4. The rotation may occur along aclockwise direction and/or counterclockwise direction. In someinstances, the first support member 6 and the second support member 4can produce rotation of the payload 1 about first and second rotationalaxes, respectively. The first and second rotational axes may bedifferent axes, such as intersecting axes. The axes may be orthogonal orapproximately orthogonal to each other. Alternatively, the axes may benon-orthogonal. In some embodiments, the first and second rotationalaxes can be selected from two of the following: a roll axis, a pitchaxis, or a yaw axis. The roll axis, pitch axis, and yaw axis may referto rotational axes of the payload 1 relative to the movable object.

The support members 4, 6 can produce rotation of the payload 1 about therotational axes using a suitable actuation mechanism. For example, thefirst support member 6 can include a first actuation unit 7 operable torotate the payload mount 3 and payload 1 relative to the first supportmember 6, and the second support member 4 can include a second actuationunit 5 operable to rotate the first support member 6, payload mount 3,and payload 1 relative to the second support member 4. Each actuationunit may include a motor and a driving module controlling the driving ofthe motor, as described in greater detail below. The actuation units 5,7 can be controlled by a controller (not shown), which can be providedas part of or coupled to the mounting platform 1000. Alternatively, thecontroller can be provided separately from the mounting platform 1000,such as on a movable object carrying the mounting platform 1000. Thecontroller may control the actuation units 5, 7 based on position and/ororientation feedback received from the actuation units 5, 7, payloadmount 3, or payload 1, as described in further detail below.Additionally, the actuation units 5, 7 can be powered by a suitablepower source (e.g., a battery) (not shown), which may be situated on themounting platform 1000 or provided on a movable object coupled to themounting 1000. In some embodiments, the power source may be the same asthe power source used to power one or more components of the movableobject (e.g., propulsion system, navigation system).

The mounting platform 1000 can include a flexible member 2 (depicted inFIG. 3) for communicating electrical signals, including control signals,power, and/or data (e.g., feedback data, payload data). As previouslydiscussed, the flexible member 2 may be a flexible circuit board,electrical wire, flat cable, or any other flexible electrical connector.The flexible member 2 may transmit electrical signals between one ormore components of the mounting platform 1000 and the movable object.Alternatively, the flexible member 2 can be used to transmit electricalsignals between one or more components of the mounting platform 1000,and other connectors can be used to electrically couple the flexiblemember 2 to the movable object. In some embodiments, the flexible member2 can electrically couple the first support member 6 (e.g., via thefirst actuation unit 7), second support member 4 (e.g., via the secondactuation unit 5), and payload mount 3. In some instances, the payloadmount 3 can be electrically coupled to the payload 1, such that theflexible member 2 is in electrical communication with the payload 1 viathe payload mount 3. Alternatively, the payload mount 3 may not beelectrically coupled to the payload 1.

The geometry of the flexible member 2 can be adapted as necessary toprovide the desired connectivity. For example, the flexible member 2 caninclude any suitable combination of linear and nonlinear portions. Theends of the flexible member 2 can connect to various components of themounting platform 1000 and/or movable object as previously describedherein. In some instances, the flexible member 2 can be branched so asto provide multiple ends (e.g., two, three, four, five, or more), eachend used to couple to a respective component. For instance, a first end21 may connect to the payload mount 3, a second end 23 may connect tothe first actuation unit 7, and a third end 26 may connect to the secondactuation unit 5. One or more lengths of the flexible member 2 can bewound around a portion of the mounting platform, such that the lengthwinds or unwinds along with the rotation of various components of theplatform, similar to the electromechanical rotary couplings previouslydescribed herein. In some instances, a first length 22 may wind around aportion of the payload mount 3 or first support member 6, and a secondlength 25 may wind around a portion of the first support member 6 or thesecond support member 4. For example, the first length 22 may windaround a proximal portion of the payload mount 3 or a distal portion ofthe first support member 6, and the second length 25 may wind around aproximal portion of the first support member 6 or a distal portion ofthe second support member 4. Advantageously, the winding configurationof the flexible member 2 can be used to maintain electrical connectivitybetween rotating components of the mounting platform 1000 without therisk of entanglement.

The components of the mounting platform 1000 described herein can haveany suitable design and structure. FIG. 4 illustrates the payload mount3 of the mounting platform 1000, in accordance with embodiments. Thepayload mount 3 can be used to secure a payload 1, as previouslymentioned. For example, the payload mount 3 can restrict the motion ofthe payload 1 (with respect to up to six degrees of freedom) so as toprevent undesired movements of the payload 1 during operation of themounting platform 1000 and/or movable object, as well as to preventinadvertent loosening of the payload 1 that may result in loss of ordamage to the payload 1. Optionally, a payload mount 3 may includecomponents protecting the payload 1 from the environment, such asshields, covers, waterproofing elements, and the like.

The payload mount 3 can include a base plate 31 and a plurality ofholding plates 32. The holding plates 32 can extend from opposing sidesof the base plate 31. A cover plate 35 can be coupled to the holdingplates 32, such as by screws or other fasteners. The payload mount 3 canalso include an attachment plate 33 extending from the base plate 31 andsituated between two adjacent holding plates 32. An attachment shaft 34can extend outward from the attachment plate 33 to engage the firstactuation unit 7 of the first support member 6, as described below. Theattachment shaft 34 can include an inner ring 341, an outer ring 342separated from the inner ring 341 by a specified distance, an extension343 connecting the inner ring 341 to the outer ring 342, and a limitinggroove 344 recessed from the outer ring 342 towards the inner ring 341.

In some embodiments, the cover plate 35 can be releasably coupled to theholding plates 32 so as to enable the payload 1 to be releasably mountedinto the payload mount 3. When mounted, the payload 1 can be securedbetween the base plate 31, holding plates 32, attachment plate 34, andcover plate 35. In some embodiments, the base plate 31, holding plates32, attachment plate 34, and/or cover plate 35 may include apertures orwindows enabling the payload to access the surrounding environment. Forexample, the apertures can be sized to maximize the availableunobstructed field of view of an imaging device carried by the payloadmount 3.

Additionally, the payload mount 3 can include a detection module (notshown) capable of detecting a spatial disposition of the payload 1. Thedetection module can include position and/or orientation sensors, suchas accelerometers and/or gyroscopes, which may be provided as part of aninertial measurement unit (IMU). The sensors can provide position and/ororientation data that may be transmitted to a controller on the mountingplatform 1 or movable object, such as for feedback-based control, asdescribed below. The sensor data can be transmitted from the payloadmount 3 to the flexible member 2 via a suitable electrical interface(e.g., a PCB coupled to the base plate 31). Optionally, the detectionmodule may be situated directly on the payload 1 rather than on thepayload mount 3. In such instances, the payload 1 can be electricallycoupled to the payload mount 3 so as to enable transmission of thesensor data to the controller via the flexible member 2, or may includeother communication mechanisms (e.g., wireless communication) thatenable transmission of the sensor data independently of the flexiblemember 2.

FIG. 5 illustrates an exploded view of the first support member 6 of themounting platform 1000, in accordance with embodiments. The firstsupport member 6 may couple to and rotate the payload mount 3, therebyrotating the payload 1 about a first rotational axis. The first supportmember 6 can include a rotation arm 61 and a holding arm 62 extendingfrom the rotation arm 61 at an angle to form a bend in the supportmember 6 (see also FIG. 8). The rotation arm 61 can include a rotationrod 611 and a first arm shaft 612 passing through the rotation rod 611.The first arm shaft 612 can include a first arm rotation shaft 6121situated on one side of the rotation rod 611 and a second arm rotationshaft 6122 situated on the other side of the rotation rod 611. Theholding arm 62 can include an arm portion 622, an insertion hole 621extending through the arm portion 622, a winding portion 623 extendingoutwards from the arm portion 622, and a blocking portion 624 extendingoutwards from the winding portion 623 in a direction away from the armportion 622.

As previously mentioned, the first support member 6 can include a firstactuation unit 7 operable to rotate the payload mount 3 relative to thefirst support member 6. The first actuation unit 7 can be coupled to theholding arm 62, such that a portion of the first actuation unit 7 isreceived within the insertion hole 621 of the holding arm 62. The firstactuation unit 7 can include a first driving motor 72, first drivingmotor outer cover 73, support housing 74, a second arm shaft 75, and afirst driving module 77. The first driving motor 72 can be coupled ontothe first driving motor outer cover 73. The first driving motor 72 caninclude a stator (not shown), a rotor (not shown) rotatable relative tothe stator, a first rotation shaft 721, and a rotation bearing (notshown) fixed to the first rotation shaft 721. The first actuation unit 7can also include a support housing 74, which may be affixed to the sideof the holding arm 62 opposite the first driving motor 72. The secondarm shaft 75 can be disposed around the first rotation shaft 721, andcan include a third arm rotation shaft 751 rotatably coupled to thefirst rotation shaft 721. The second arm shaft 75 can also include afourth arm rotation shaft 752 inserted within the receiving cavity 741,and a first support bearing 753 disposed around the fourth arm rotationshaft 752 and received in the winding portion 623 of the holding arm 62.Alternatively, the first support bearing 753 can be received in both theinsertion hole 621 and the winding portion 623, or received only withinthe insertion hole 621. In some instances, the first support bearing 753can be replaced with a shaft sleeve.

A first driving module 77 can be used to control the driving of thefirst driving motor 72. The first driving module 77 can include a firstmotor driver 76 and a first potentiometer 71 situated on the first motordriver 76. The first potentiometer 71 can be inserted in the firstrotation shaft 721 so as to measure the relative position of the rotorand stator of the first driving motor 72, thereby generating a firstposition signal. The first position signal can be received by the firstmotor driver 76 and transmitted to a controller, as described in furtherdetail below. The motor driver 76 can include hardware and/or softwarecomponents suitable for controlling the driving of the first drivingmotor 72 and receiving position signals from the first potentiometer 71,such as components implemented on a PCB.

FIG. 6 illustrates the payload mount 3 coupled to the first supportmember 6, in accordance with many embodiments. The second arm shaft 75of the first actuation unit 7 of the support member 6 can be receivedwithin the inner ring 341 of the attachment shaft 34 so as to rotatablycouple the fourth arm rotation shaft 752 to the attachment shaft 34 (seealso FIGS. 4, 5). When the driving motor 72 of the first actuation unit7 is driven, the first rotation shaft 721 can rotate, thereby rotatingthe attachment shaft 34 of the payload mount 3 via rotation of thesecond arm shaft 75. Accordingly, the payload mount 3 can be driven bythe first rotation shaft 721 to rotate forward and/or backwards relativeto the first support member 6.

FIG. 7 illustrates an exploded view of the second support member 4 ofthe mounting platform 1000, in accordance with embodiments. The secondsupport member 4 may couple to and rotate the first support member 6,thereby rotating the payload 1 about a second rotational axis. Thesecond support member 4 can include a holding arm 41. The holding arm 41can include a horizontal arm 411 and a vertical arm 412 extending fromthe horizontal arm 411 at an angle to form a bend in the second supportmember 4. The horizontal and vertical arms 411, 412 can be integrallyformed. Alternatively, the horizontal and vertical arms 411, 412 can beprovided separately and coupled to each other. The vertical arm 412 caninclude a cavity 4121 shaped to permit passage of the flexible member 2,as described below. A first fixing portion 43 and a second fixingportion 42 can be connected to the holding arm 41 at the end of thevertical arm 412 away from the horizontal arm 411. The first fixingportion 43 and second fixing portion 42 can be integrally formed withthe holding arm 41. Alternatively, at least one of the first fixingportion 43 and second fixing portion 42 can be provided separately fromand coupled to the holding arm 41. In some embodiments, the secondfixing portion 42 is integrally formed with the holding arm 41, and thefirst fixing portion 43 is releasably coupled to the holding arm 41using one or more fasteners.

The first fixing portion 43 and second fixing portion 42 can be disposedon the holding arm 41 opposite of each other and separated by aspecified distance. A connecting wall 44 can connect the first fixingportion 43 to the second fixing portion 42, such that a receiving space45 is formed within the first fixing portion 43, second fixing portion42, and connecting wall 44. The first fixing portion 43 can include afirst aperture 431. The second fixing portion 42 can include a bottomplate 421, a second aperture 422 running through the bottom plate 421,and a surrounding portion 423 surrounding the second aperture 422 andextending outward from the bottom plate 421 away from the connectingwall 44. The connecting wall 44 can include a first stop 441, a secondstop 442 opposite the first stop 441, and an opening 443 formed betweenthe first and second stops 441, 442 and in communication with thereceiving space 45.

The second support member 4 can include a second actuation unit 5 usedto rotate the first support member 6 relative to the second supportmember 4, as previously discussed. The second actuation unit 5 caninclude a second driving motor 52 and a second driving motor cover 50.The second driving motor 52 can include a casing 53, a stator (notshown), a rotor (not shown) rotatable relative to the stator, a secondrotation shaft 54 coupled to the rotor and extending partially out ofthe casing 53, and a rotation bearing (not shown) received within thecasing 53 and situated around the second rotation shaft 54. The secondactuation unit 5 can further include a second support bearing 55situated around the second rotation shaft 54 and extending out of thecasing 53. In some instances, the second support bearing 55 can bereplaced with a shaft sleeve.

The second actuation unit 5 can be coupled to the first fixing portion43 of the second support member 4. The second rotation shaft 54 of thesecond driving motor 52 can be received within the first aperture 431and second aperture 422. The second support bearing 55 can be receivedwithin the second aperture 422 and surrounding portion 423.Alternatively, the second support bearing 55 can be received within onlythe second aperture 422, provided that the bottom plate 421 is ofsufficient thickness. When assembled, the geometric center of the secondaperture 422 and the center of rotation of the second support bearing 55can be aligned with the axis of the second rotation shaft 54.

A second driving module 56 can be used to control the driving of thesecond driving motor 52. The second driving module 56 can include asecond motor driver 58 and a second potentiometer 57 situated on thesecond motor driver 58. The second potentiometer 57 can be inserted inthe second rotation shaft 54 so as to measure the relative position ofthe rotor and stator of the second driving motor 52, thereby generatinga second position signal. The second position signal can be received bythe second motor driver 58 and transmitted to a controller, as describedin further detail below. The motor driver 58 can include software and/orhardware components suitable for controlling the driving of the seconddriving motor 52 and receiving data from the second potentiometer 57,such as components implemented on a PCB.

FIG. 8 illustrates the first support member 6 coupled to the secondsupport member 4, in accordance with embodiments. A portion of the firstsupport member 6 can be received within the receiving space 45 of thesecond support member 4 via the opening 443 (see also FIGS. 5, 7). Forexample, the first arm rotation shaft 6121 of rotation arm 61 can besituated within the receiving space 45, around the second rotation shaft54 of the second actuation unit 5. The second arm rotation shaft 6122can be inserted in the second support bearing 55. Accordingly, thesecond support bearing 55 can be rotatably coupled to the secondrotation shaft 54 via the second arm rotation shaft 6122 of the firstarm shaft 612. The second driving motor 52 can be driven to rotate thesecond rotation shaft 54, thereby driving the first support member 6 torotate up and down relative to the vertical arm 412 of the secondsupport member 4. The second support bearing 55 and the rotation bearingof the driving motor 52 can be used together to prevent axial deviationof the second rotation shaft 54 and the first arm shaft 612, therebyimproving the stable transfer of power from the second rotation shaft 54to the first support member 6. Alternatively, in some embodiments, thefirst arm shaft 612 may be optional. For instance, the second rotationshaft 54 can be inserted within the rotation rod 611, with the secondsupport bearing 55 provided directly around the second rotation shaft54.

Referring again to FIG. 2, the payload mount 3, first support member 6,and second support member 4 can be electrically coupled by the flexiblemember 2, as discussed above. The flexible member 2 can include a firstend 21 connected to a second end 23 via a first length 22. A connectingportion 24 can join the second end 23 to a second length 25, and thesecond length 25 can terminate in a third end 26. The first length 22can be perpendicular to the first and second ends 21, 23, and the secondlength 25 can be perpendicular to the third end 26. The connectingportion 24 can be curved so as to approximately conform to the curvatureof the first support member 6 (e.g., at the bend formed by the rotationarm 61 and holding arm 62).

When the mounting platform 1000 is assembled, the first end 21 can becoupled to the base plate 31 of the payload mount 3. The first length 22can be wound around the winding portion 623 of the first support member6 and/or the attachment shaft 34 of the payload mount 3, so as to windor unwind according to the rotation of the payload mount 3 relative tothe first support member 6. Alternatively, the winding portion 623 andattachment shaft 34 may be optional, so that the first length 22 iswound around the second arm shaft 75. In some instances, the second armshaft 75 may also be optional, such that the first length 22 is wounddirectly around the first rotation shaft 721 (as depicted in FIG. 9).

The second end 23 can be coupled to the first driving module 77 (e.g.,via the first motor driver 76) of the first support member 6. Theconnecting portion 24 can extend between the first actuation unit 7 andthe proximal portion of the first support member 6. The second length 25can be inserted into the receiving space 45 through the opening 433,such that a portion of the second length 25 is received between therotation arm 61 and the connecting wall 44, and between the first fixingportion 43 and the second fixing portion 42. This portion of the secondlength 25 can be wound around the rotation arm 61 (e.g., the rotationrod 611) the of the first support member 6, so as to wind or unwindaccording to the rotation of the first support member 6 relative to thesecond support member 4. A remaining portion of the second length 411can pass through the cavity 4121 and extend along the vertical arm 412.The third end 26 can be coupled to the second driving module 56 (e.g.,via the second motor driver 58) of the second support member 4. In someinstances, the second driving module 56 can be electrically coupled toonboard devices (e.g., power source, controller) of a movable objectcoupled to mounting platform 1000, thereby serving as an electricalinterface between the flexible member 2 and the onboard devices.

In some embodiments, power can be transmitted to the various componentsof the mounting platform 1000 via the flexible member 2. For example, apower source carried by the movable object can be electrically coupledto the second actuation unit 5 (e.g., via the second driving module 56).The second actuation unit 5 can transmit power to the flexible member 2via the third end 26 of the flexible member 2. Subsequently, power canbe transmitted to the first actuation unit 7 (e.g., via the firstdriving module 77) through the second end 23 and to the payload mount 3through the first end 21. Optionally, power may be also transmitted tothe payload 1 via an electrical interface of the payload mount 3.

Similarly, a controller carried by the movable object can beelectrically coupled to the second actuation unit 5. Control signalsgenerated by the controller can be transmitted to the actuation unit 5,which in turn can transmit the control signals to the flexible member 2via the third end 26. The flexible member 2 can propagate the controlsignals to the first actuation unit 7 via the second end 23, to thepayload mount 3 via the first end 21, and optionally to the payload 1via the payload mount 3. Conversely, data generated by the actuationunits 5, 7 (e.g., position signals, as described below), payload mount 3(e.g., position and/or orientation data, as described below), and/orpayload 1 (e.g., position and/or orientation data, as described below,as well as payload data) can be transmitted back to the controller orother onboard device carried by the movable object. For instance, datacan be transmitted from the first actuation unit 7 to the flexiblemember 2 via the second end 25 and from the payload mount 3 to theflexible member 2 via the first end 21. Optionally, data from thepayload 1 can be transmitted to the flexible member 2 via the payloadmount 3. The data can then be routed by the flexible member 2 to thesecond actuation unit 5 via the third end 26. Data from the secondactuation unit 5 can be transmitted to the onboard devices via theelectrical coupling between the second actuation unit 5 and the movableobject.

The rotation of the components of the mounting platform 1000 can beconstrained to a predetermined range, so as to prevent overextension anddamage to the flexible member 2. For example, the rotation of thepayload mount 3 relative to the first support member 6 and/or therotation of the first support member 6 relative to the second supportmember 4 can be constrained. The extent of allowable rotation can bedetermined based on the size of the pre-wound lengths of the flexiblemember 2. Additionally, the rotation range can be determined based onthe functionality of the payload 1. For example, a camera may require alarger rotation range in order to provide a panoramic field of view foraerial photography. The rotational constraints can be implemented usingsoftware (e.g., pre-programmed limits), hardware (e.g., physicallypreventing rotation, such as by stops), or suitable combinationsthereof.

FIGS. 10A and 10B illustrate constrained rotation of the first supportmember 6, in accordance with embodiments. As previously mentioned, aproximal portion of the first support member 6 can be received within adistal portion of the second support member 4 via the opening 443 (see,e.g., FIG. 7). The opening 443 can be flanked by first and second stops441, 442. The size and positioning of the stops 441, 442 and opening 443can be selected so as to limit the rotation of the first support member6 relative to the second support member 4. For example, the stops 441,442 may contact the first support member 6 when it is rotated to a firstmaximum rotation angle A and a second maximum rotation angle B (asmeasured between a rotation axis 63 of the first support member 6 andthe horizontal plane 51), respectively, thereby physically constrainingthe rotation of the first support member 6 to a range between the anglesA, B. Accordingly, the maximum rotation angle A can define a maximumupward rotation angle for the first support member 6, and the maximumrotation angle B can define a maximum downward rotation angle for thefirst support member 6.

The angles A, B may have the same magnitude, or different magnitudes.For example, the angles A, B may both be 50 degrees. As another example,the first angle A may be 40 degrees, and the second angle B may be 110degrees. At least one of the angles A, B may be greater than or equal toapproximately 10 degrees, 20 degrees, 30 degrees, 40 degrees, 50degrees, 60 degrees, 70 degrees, 80 degrees, 90 degrees, 100 degrees,110 degrees, 120 degrees, 150 degrees, or 180 degrees. Conversely, atleast one of the angles A, B, may be less than or equal to approximately10 degrees, 20 degrees, 30 degrees, 40 degrees, 50 degrees, 60 degrees,70 degrees, 80 degrees, 90 degrees, 100 degrees, 110 degrees, 120degrees, 150 degrees, or 180 degrees. The total range of rotation may begreater than or equal to approximately 10 degrees, 30 degrees, 45degrees, 60 degrees, 90 degrees, 120 degrees, 135 degrees, 150 degrees,180 degrees, 270 degrees, or 360 degrees. Conversely, the total range ofrotation may be less than or equal to approximately 10 degrees, 30degrees, 45 degrees, 60 degrees, 90 degrees, 120 degrees, 135 degrees,150 degrees, 180 degrees, 270 degrees, or 360 degrees.

Referring again to FIG. 4, the rotation of the payload mount 3 relativeto the first support member 6 can also be constrained. As previouslydescribed, the attachment shaft 34 of the payload mount 3 can include alimiting groove 344. The support member 6 may include a constrainingportion shaped to be complementary to the limiting groove 344, such thatthe constraining portion is at least partially received within thelimiting groove 344 and is movable within the limiting groove 344. Whenthe payload mount is rotated to a maximum rotation angle, theconstraining portion may contact an end of the limiting groove 344,thereby physically preventing further rotation. Accordingly, the size ofthe limiting groove 344 and/or constraining portion may determine themaximum rotation angles of the payload mount 3. Alternatively, in someembodiments, a limiting groove can be provided on the first supportmember 6 and a complementary constraining portion can be provided on thepayload mount 3.

FIG. 11 is a schematic illustration of a control scheme 1100 for amounting platform, in accordance with embodiments. The control scheme1100 can be implemented to control any embodiment of the mountingplatforms described herein. In some instances, the control scheme 1100can be used to control the driving of a plurality of motors (a“multi-motor” control scheme), such as two, three, four, five, or moremotors. Some or all of the communication described herein with respectto the control scheme 1100 can be transmitted via a flexible member,such as the flexible member 2. A controller 1102, which may be situatedon a mounting platform or on a movable object carrying the mountingplatform, can generate control signals for driving a first motor 1104(e.g., first driving motor 72) and/or a second motor 1106 (e.g., seconddriving motor 52). In some instances, the control signals can begenerated based on data received from a detection module 1107 indicativeof the spatial disposition of a mounted payload. The detection module1107 may be situated on the payload or a payload mount carrying thepayload, as previously described herein. The control signals produced bythe controller 1102 can be received by a first motor driver 1108 (e.g.,first motor driver 76) and/or a second motor driver 1110 (e.g., secondmotor driver 58). Based on the control signals, the first and secondmotor drivers 1108, 1110 may control the driving of the first and/orsecond motors 1104, 1106, for example, to effect a rotation of one ormore components of a mounting platform, as previously described herein.The control signals can be transmitted simultaneously to the motordrivers 1108, 1110 to produce simultaneous driving of the motors 1104,1106. Alternatively, the control signals can be transmittedsequentially, or to only one of the motor drivers 1108, 1110.

The first and second motor 1104, 1106 may be coupled to one or moresensors (e.g., first and second potentiometers 71, 57) configured tomeasure the driving of the motors. For example, a potentiometer can beinserted on a motor shaft of a motor so as to measure the relativeposition of a motor rotor and motor stator, thereby measuring therelative position of the rotor and stator and generating a positionsignal representative thereof. A first potentiometer can be used togenerate a first position signal 1112 for the first motor 1104, and asecond potentiometer can be used to generate a second position signal1114 for the second motor 1106. The first and second position signals1112, 1114 can be transmitted to the first and second motor drivers1108, 1110, respectively, so as to provide feedback for controlling thedriving of the first and second motors 1104, 1106, respectively. In someembodiments, the controller 1102 and/or the detection module 1107 may beoptional, such that the first and second motor drivers 1108, 1110 arecontrolled independently. Advantageously, the control scheme 1100 can beused to provide feedback control for driving motors of a mountingplatform, thereby enabling more precise and accurate rotation of theplatform components.

The systems, devices, and methods described herein can be applied to awide variety of movable objects. As previously mentioned, anydescription herein of an aerial vehicle may apply to and be used for anymovable object. A movable object of the present disclosure can beconfigured to move within any suitable environment, such as in air(e.g., a fixed-wing aircraft, a rotary-wing aircraft, or an aircrafthaving neither fixed wings nor rotary wings), in water (e.g., a ship ora submarine), on ground (e.g., a motor vehicle, such as a car, truck,bus, van, motorcycle, bicycle; a movable structure or frame such as astick, fishing pole; or a train), under the ground (e.g., a subway), inspace (e.g., a spaceplane, a satellite, or a probe), or any combinationof these environments. The movable object can be a vehicle, such as avehicle described elsewhere herein. In some embodiments, the movableobject can be a living subject or be carried by a living subject, suchas a human or an animal. Suitable animals can include avines, canines,felines, equines, bovines, ovines, porcines, delphines, rodents, orinsects.

The movable object may be capable of moving freely within theenvironment with respect to six degrees of freedom (e.g., three degreesof freedom in translation and three degrees of freedom in rotation).Alternatively, the movement of the movable object can be constrainedwith respect to one or more degrees of freedom, such as by apredetermined path, track, or orientation. The movement can be actuatedby any suitable actuation mechanism, such as an engine or a motor. Theactuation mechanism of the movable object can be powered by any suitableenergy source, such as electrical energy, magnetic energy, solar energy,wind energy, gravitational energy, chemical energy, nuclear energy, orany suitable combination thereof. The movable object may beself-propelled via a propulsion system, as described elsewhere herein.The propulsion system may optionally run on an energy source, such aselectrical energy, magnetic energy, solar energy, wind energy,gravitational energy, chemical energy, nuclear energy, or any suitablecombination thereof. Alternatively, the movable object may be carried bya living being.

In some instances, the movable object can be a vehicle. Suitablevehicles may include water vehicles, aerial vehicles, space vehicles, orground vehicles. For example, aerial vehicles may be fixed-wing aircraft(e.g., airplane, gliders), rotary-wing aircraft (e.g., helicopters,rotorcraft), aircraft having both fixed wings and rotary wings, oraircraft having neither (e.g., blimps, hot air balloons). A vehicle canbe self-propelled, such as self-propelled through the air, on or inwater, in space, or on or under the ground. A self-propelled vehicle canutilize a propulsion system, such as a propulsion system including oneor more engines, motors, wheels, axles, magnets, rotors, propellers,blades, nozzles, or any suitable combination thereof. In some instances,the propulsion system can be used to enable the movable object to takeoff from a surface, land on a surface, maintain its current positionand/or orientation (e.g., hover), change orientation, and/or changeposition.

The movable object can be controlled remotely by a user or controlledlocally by an occupant within or on the movable object. In someembodiments, the movable object is an unmanned movable object, such as aUAV. An unmanned movable object, such as a UAV, may not have an occupantonboard the movable object. The movable object can be controlled by ahuman or an autonomous control system (e.g., a computer control system),or any suitable combination thereof. The movable object can be anautonomous or semi-autonomous robot, such as a robot configured with anartificial intelligence.

The movable object can have any suitable size and/or dimensions. In someembodiments, the movable object may be of a size and/or dimensions tohave a human occupant within or on the vehicle. Alternatively, themovable object may be of size and/or dimensions smaller than thatcapable of having a human occupant within or on the vehicle. The movableobject may be of a size and/or dimensions suitable for being lifted orcarried by a human. Alternatively, the movable object may be larger thana size and/or dimensions suitable for being lifted or carried by ahuman. In some instances, the movable object may have a maximumdimension (e.g., length, width, height, diameter, diagonal) of less thanor equal to about: 2 cm, 5 cm, 10 cm, 50 cm, 1 m, 2 m, 5 m, or 10 m. Themaximum dimension may be greater than or equal to about: 2 cm, 5 cm, 10cm, 50 cm, 1 m, 2 m, 5 m, or 10 m. For example, the distance betweenshafts of opposite rotors of the movable object may be less than orequal to about: 2 cm, 5 cm, 10 cm, 50 cm, 1 m, 2 m, 5 m, or 10 m.Alternatively, the distance between shafts of opposite rotors may begreater than or equal to about: 2 cm, 5 cm, 10 cm, 50 cm, 1 m, 2 m, 5 m,or 10 m.

In some embodiments, the movable object may have a volume of less than100 cm×100 cm×100 cm, less than 50 cm×50 cm×30 cm, or less than 5 cm×5cm×3 cm. The total volume of the movable object may be less than orequal to about: 1 cm³, 2 cm³, 5 cm³, 10 cm³, 20 cm³, 30 cm³, 40 cm³, 50cm³, 60 cm³, 70 cm³, 80 cm³, 90 cm³, 100 cm³, 150 cm³, 200 cm³, 300 cm³,500 cm³, 750 cm³, 1000 cm³, 5000 cm³, 10,000 cm³, 100,000 cm³, 1 m³, or10 m³. Conversely, the total volume of the movable object may be greaterthan or equal to about: 1 cm³, 2 cm³, 5 cm³, 10 cm³, 20 cm³, 30 cm³, 40cm³, 50 cm³, 60 cm³, 70 cm³, 80 cm³, 90 cm³, 100 cm³, 150 cm³, 200 cm³,300 cm³, 500 cm³, 750 cm³, 1000 cm³, 5000 cm³, 10,000 cm³, 100,000 cm³,1 m³, or 10 m³.

In some embodiments, the movable object may have a footprint (which mayrefer to the lateral cross-sectional area encompassed by the movableobject) less than or equal to about: 32,000 cm², 20,000 cm², 10,000 cm²,1,000 cm², 500 cm², 100 cm², 50 cm², 10 cm², or 5 cm². Conversely, thefootprint may be greater than or equal to about: 32,000 cm², 20,000 cm²,10,000 cm², 1,000 cm², 500 cm², 100 cm², 50 cm², 10 cm², or 5 cm².

In some instances, the movable object may weigh no more than 1000 kg.The weight of the movable object may be less than or equal to about:1000 kg, 750 kg, 500 kg, 200 kg, 150 kg, 100 kg, 80 kg, 70 kg, 60 kg, 50kg, 45 kg, 40 kg, 35 kg, 30 kg, 25 kg, 20 kg, 15 kg, 12 kg, 10 kg, 9 kg,8 kg, 7 kg, 6 kg, 5 kg, 4 kg, 3 kg, 2 kg, 1 kg, 0.5 kg, 0.1 kg, 0.05 kg,or 0.01 kg. Conversely, the weight may be greater than or equal toabout: 1000 kg, 750 kg, 500 kg, 200 kg, 150 kg, 100 kg, 80 kg, 70 kg, 60kg, 50 kg, 45 kg, 40 kg, 35 kg, 30 kg, 25 kg, 20 kg, 15 kg, 12 kg, 10kg, 9 kg, 8 kg, 7 kg, 6 kg, 5 kg, 4 kg, 3 kg, 2 kg, 1 kg, 0.5 kg, 0.1kg, 0.05 kg, or 0.01 kg.

In some embodiments, a movable object may be small relative to a loadcarried by the movable object. The load may include a payload and/or acarrier, as described in further detail elsewhere herein. In someexamples, a ratio of an movable object weight to a load weight may begreater than, less than, or equal to about 1:1. In some instances, aratio of an movable object weight to a load weight may be greater than,less than, or equal to about 1:1. Optionally, a ratio of a carrierweight to a load weight may be greater than, less than, or equal toabout 1:1. When desired, the ratio of an movable object weight to a loadweight may be less than or equal to: 1:2, 1:3, 1:4, 1:5, 1:10, or evenless. Conversely, the ratio of a movable object weight to a load weightcan also be greater than or equal to: 2:1, 3:1, 4:1, 5:1, 10:1, or evengreater.

In some embodiments, the movable object may have low energy consumption.For example, the movable object may use less than about: 5 W/h, 4 W/h, 3W/h, 2 W/h, 1 W/h, or less. In some instances, a carrier of the movableobject may have low energy consumption. For example, the carrier may useless than about: 5 W/h, 4 W/h, 3 W/h, 2 W/h, 1 W/h, or less. Optionally,a payload of the movable object may have low energy consumption, such asless than about: 5 W/h, 4 W/h, 3 W/h, 2 W/h, 1 W/h, or less.

FIG. 12 illustrates an unmanned aerial vehicle (UAV) 1200, in accordancewith embodiments of the present disclosure. The UAV may be an example ofa movable object as described herein. The UAV 1200 can include apropulsion system having four rotors 1202, 1204, 1206, and 1208. Anynumber of rotors may be provided (e.g., one, two, three, four, five,six, or more). The rotors, rotor assemblies, or other propulsion systemsof the unmanned aerial vehicle may enable the unmanned aerial vehicle tohover/maintain position, change orientation, and/or change location. Thedistance between shafts of opposite rotors can be any suitable length1210. For example, the length 1210 can be less than or equal to 2 m, orless than equal to 12 m. In some embodiments, the length 1210 can bewithin a range from 40 cm to 7 m, from 70 cm to 2 m, or from 12 cm to 12m. Any description herein of a UAV may apply to a movable object, suchas a movable object of a different type, and vice versa.

In some embodiments, the movable object can be configured to carry aload. The load can include one or more of passengers, cargo, equipment,instruments, and the like. The load can be provided within a housing.The housing may be separate from a housing of the movable object, or bepart of a housing for an movable object. Alternatively, the load can beprovided with a housing while the movable object does not have ahousing. Alternatively, portions of the load or the entire load can beprovided without a housing. The load can be rigidly fixed relative tothe movable object. Optionally, the load can be movable relative to themovable object (e.g., translatable or rotatable relative to the movableobject). The load can include a payload and/or a carrier, as describedelsewhere herein.

In some embodiments, the movement of the movable object, carrier, andpayload relative to a fixed reference frame (e.g., the surroundingenvironment) and/or to each other, can be controlled by a terminal. Theterminal can be a remote control device at a location distant from themovable object, carrier, and/or payload. The terminal can be disposed onor affixed to a support platform. Alternatively, the terminal can be ahandheld or wearable device. For example, the terminal can include asmartphone, tablet, laptop, computer, glasses, gloves, helmet,microphone, or suitable combinations thereof. The terminal can include auser interface, such as a keyboard, mouse, joystick, touchscreen, ordisplay. Any suitable user input can be used to interact with theterminal, such as manually entered commands, voice control, gesturecontrol, or position control (e.g., via a movement, location or tilt ofthe terminal).

The terminal can be used to control any suitable state of the movableobject, carrier, and/or payload. For example, the terminal can be usedto control the position and/or orientation of the movable object,carrier, and/or payload relative to a fixed reference from and/or toeach other. In some embodiments, the terminal can be used to controlindividual elements of the movable object, carrier, and/or payload, suchas the actuation assembly of the carrier, a sensor of the payload, or anemitter of the payload. The terminal can include a wirelesscommunication device adapted to communicate with one or more of themovable object, carrier, or payload.

The terminal can include a suitable display unit for viewing informationof the movable object, carrier, and/or payload. For example, theterminal can be configured to display information of the movable object,carrier, and/or payload with respect to position, translationalvelocity, translational acceleration, orientation, angular velocity,angular acceleration, or any suitable combinations thereof. In someembodiments, the terminal can display information provided by thepayload, such as data provided by a functional payload (e.g., imagesrecorded by a camera or other image capturing device).

Optionally, the same terminal may both control the movable object,carrier, and/or payload, or a state of the movable object, carrierand/or payload, as well as receive and/or display information from themovable object, carrier and/or payload. For example, a terminal maycontrol the positioning of the payload relative to an environment, whiledisplaying image data captured by the payload, or information about theposition of the payload. Alternatively, different terminals may be usedfor different functions. For example, a first terminal may controlmovement or a state of the movable object, carrier, and/or payload whilea second terminal may receive and/or display information from themovable object, carrier, and/or payload. For example, a first terminalmay be used to control the positioning of the payload relative to anenvironment while a second terminal displays image data captured by thepayload. Various communication modes may be utilized between a movableobject and an integrated terminal that both controls the movable objectand receives data, or between the movable object and multiple terminalsthat both control the movable object and receives data. For example, atleast two different communication modes may be formed between themovable object and the terminal that both controls the movable objectand receives data from the movable object.

FIG. 13 illustrates a movable object 1300 including a carrier 1302 and apayload 1304, in accordance with embodiments. Although the movableobject 1300 is depicted as an aircraft, this depiction is not intendedto be limiting, and any suitable type of movable object can be used, aspreviously described herein. One of skill in the art would appreciatethat any of the embodiments described herein in the context of aircraftsystems can be applied to any suitable movable object (e.g., an UAV). Insome instances, the payload 1304 may be provided on the movable object1300 without requiring the carrier 1302. The movable object 1300 mayinclude propulsion mechanisms 1306, a sensing system 1308, and acommunication system 1310.

The propulsion mechanisms 1306 can include one or more of rotors,propellers, blades, engines, motors, wheels, axles, magnets, or nozzles,as previously described. The movable object may have one or more, two ormore, three or more, or four or more propulsion mechanisms. Thepropulsion mechanisms may all be of the same type. Alternatively, one ormore propulsion mechanisms can be different types of propulsionmechanisms. The propulsion mechanisms 1306 can be mounted on the movableobject 1300 using any suitable means, such as a support element (e.g., adrive shaft) as described elsewhere herein. The propulsion mechanisms1306 can be mounted on any suitable portion of the movable object 1300,such on the top, bottom, front, back, sides, or suitable combinationsthereof.

In some embodiments, the propulsion mechanisms 1306 can enable themovable object 1300 to take off vertically from a surface or landvertically on a surface without requiring any horizontal movement of themovable object 1300 (e.g., without traveling down a runway). Optionally,the propulsion mechanisms 1306 can be operable to permit the movableobject 1300 to hover in the air at a specified position and/ororientation. One or more of the propulsion mechanisms 1300 may becontrolled independently of the other propulsion mechanisms.Alternatively, the propulsion mechanisms 1300 can be configured to becontrolled simultaneously. For example, the movable object 1300 can havemultiple horizontally oriented rotors that can provide lift and/orthrust to the movable object. The multiple horizontally oriented rotorscan be actuated to provide vertical takeoff, vertical landing, andhovering capabilities to the movable object 1300. In some embodiments,one or more of the horizontally oriented rotors may spin in a clockwisedirection, while one or more of the horizontally rotors may spin in acounterclockwise direction. For example, the number of clockwise rotorsmay be equal to the number of counterclockwise rotors. The rotation rateof each of the horizontally oriented rotors can be varied independentlyin order to control the lift and/or thrust produced by each rotor, andthereby adjust the spatial disposition, velocity, and/or acceleration ofthe movable object 1300 (e.g., with respect to up to three degrees oftranslation and up to three degrees of rotation).

The sensing system 1308 can include one or more sensors that may sensethe spatial disposition, velocity, and/or acceleration of the movableobject 1300 (e.g., with respect to up to three degrees of translationand up to three degrees of rotation). The one or more sensors caninclude global positioning system (GPS) sensors, motion sensors,inertial sensors, proximity sensors, or image sensors. The sensing dataprovided by the sensing system 1308 can be used to control the spatialdisposition, velocity, and/or orientation of the movable object 1300(e.g., using a suitable processing unit and/or control module, asdescribed below). Alternatively, the sensing system 1308 can be used toprovide data regarding the environment surrounding the movable object,such as weather conditions, proximity to potential obstacles, locationof geographical features, location of manmade structures, and the like.

The communication system 1310 enables communication with terminal 1312having a communication system 1314 via wireless signals 1316. Thecommunication systems 1310, 1314 may include any number of transmitters,receivers, and/or transceivers suitable for wireless communication. Thecommunication may be one-way communication, such that data can betransmitted in only one direction. For example, one-way communicationmay involve only the movable object 1300 transmitting data to theterminal 1312, or vice-versa. The data may be transmitted from one ormore transmitters of the communication system 1310 to one or morereceivers of the communication system 1312, or vice-versa.Alternatively, the communication may be two-way communication, such thatdata can be transmitted in both directions between the movable object1300 and the terminal 1312. The two-way communication can involvetransmitting data from one or more transmitters of the communicationsystem 1310 to one or more receivers of the communication system 1314,and vice-versa.

In some embodiments, the terminal 1312 can provide control data to oneor more of the movable object 1300, carrier 1302, and payload 1304 andreceive information from one or more of the movable object 1300, carrier1302, and payload 1304 (e.g., position and/or motion information of themovable object, carrier or payload; data sensed by the payload such asimage data captured by a payload camera). In some instances, controldata from the terminal may include instructions for relative positions,movements, actuations, or controls of the movable object, carrier and/orpayload. For example, the control data may result in a modification ofthe location and/or orientation of the movable object (e.g., via controlof the propulsion mechanisms 1306), or a movement of the payload withrespect to the movable object (e.g., via control of the carrier 1302).The control data from the terminal may result in control of the payload,such as control of the operation of a camera or other image capturingdevice (e.g., taking still or moving pictures, zooming in or out,turning on or off, switching imaging modes, change image resolution,changing focus, changing depth of field, changing exposure time,changing viewing angle or field of view). In some instances, thecommunications from the movable object, carrier and/or payload mayinclude information from one or more sensors (e.g., of the sensingsystem 1308 or of the payload 1304). The communications may includesensed information from one or more different types of sensors (e.g.,GPS sensors, motion sensors, inertial sensor, proximity sensors, orimage sensors). Such information may pertain to the position (e.g.,location, orientation), movement, or acceleration of the movable object,carrier and/or payload. Such information from a payload may include datacaptured by the payload or a sensed state of the payload. The controldata provided transmitted by the terminal 1312 can be configured tocontrol a state of one or more of the movable object 1300, carrier 1302,or payload 1304. Alternatively or in combination, the carrier 1302 andpayload 1304 can also each include a communication module configured tocommunicate with terminal 1312, such that the terminal can communicatewith and control each of the movable object 1300, carrier 1302, andpayload 1304 independently.

In some embodiments, the movable object 1300 can be configured tocommunicate with another remote device in addition to the terminal 1312,or instead of the terminal 1312. The terminal 1312 may also beconfigured to communicate with another remote device as well as themovable object 1300. For example, the movable object 1300 and/orterminal 1312 may communicate with another movable object, or a carrieror payload of another movable object. When desired, the remote devicemay be a second terminal or other computing device (e.g., computer,laptop, tablet, smartphone, or other mobile device). The remote devicecan be configured to transmit data to the movable object 1300, receivedata from the movable object 1300, transmit data to the terminal 1312,and/or receive data from the terminal 1312. Optionally, the remotedevice can be connected to the Internet or other telecommunicationsnetwork, such that data received from the movable object 1300 and/orterminal 1312 can be uploaded to a website or server.

FIG. 14 is a schematic illustration by way of block diagram of a system1400 for controlling a movable object, in accordance with embodiments.The system 1400 can be used in combination with any suitable embodimentof the systems, devices, and methods disclosed herein. The system 1400can include a sensing module 1402, processing unit 1404, non-transitorycomputer readable medium 1406, control module 1408, and communicationmodule 1410.

The sensing module 1402 can utilize different types of sensors thatcollect information relating to the movable objects in different ways.Different types of sensors may sense different types of signals orsignals from different sources. For example, the sensors can includeinertial sensors, GPS sensors, proximity sensors (e.g., lidar), orvision/image sensors (e.g., a camera). The sensing module 1402 can beoperatively coupled to a processing unit 1404 having a plurality ofprocessors. In some embodiments, the sensing module can be operativelycoupled to a transmission module 1412 (e.g., a Wi-Fi image transmissionmodule) configured to directly transmit sensing data to a suitableexternal device or system. For example, the transmission module 1412 canbe used to transmit images captured by a camera of the sensing module1402 to a remote terminal.

The processing unit 1404 can have one or more processors, such as aprogrammable processor (e.g., a central processing unit (CPU)). Theprocessing unit 1404 can be operatively coupled to a non-transitorycomputer readable medium 1406. The non-transitory computer readablemedium 1406 can store logic, code, and/or program instructionsexecutable by the processing unit 1404 for performing one or more steps.The non-transitory computer readable medium can include one or morememory units (e.g., removable media or external storage such as an SDcard or random access memory (RAM)). In some embodiments, data from thesensing module 1402 can be directly conveyed to and stored within thememory units of the non-transitory computer readable medium 1406. Thememory units of the non-transitory computer readable medium 1406 canstore logic, code and/or program instructions executable by theprocessing unit 1404 to perform any suitable embodiment of the methodsdescribed herein. For example, the processing unit 1404 can beconfigured to execute instructions causing one or more processors of theprocessing unit 1404 to analyze sensing data produced by the sensingmodule. The memory units can store sensing data from the sensing moduleto be processed by the processing unit 1404. In some embodiments, thememory units of the non-transitory computer readable medium 1406 can beused to store the processing results produced by the processing unit1404.

In some embodiments, the processing unit 1404 can be operatively coupledto a control module 1408 configured to control a state of the movableobject. For example, the control module 1408 can be configured tocontrol the propulsion mechanisms of the movable object to adjust thespatial disposition, velocity, and/or acceleration of the movable objectwith respect to six degrees of freedom. Alternatively or in combination,the control module 1408 can control one or more of a state of a carrier,payload, or sensing module.

The processing unit 1404 can be operatively coupled to a communicationmodule 1410 configured to transmit and/or receive data from one or moreexternal devices (e.g., a terminal, display device, or other remotecontroller). Any suitable means of communication can be used, such aswired communication or wireless communication. For example, thecommunication module 1410 can utilize one or more of local area networks(LAN), wide area networks (WAN), infrared, radio, WiFi, point-to-point(P2P) networks, telecommunication networks, cloud communication, and thelike. Optionally, relay stations, such as towers, satellites, or mobilestations, can be used. Wireless communications can be proximitydependent or proximity independent. In some embodiments, line-of-sightmay or may not be required for communications. The communication module1410 can transmit and/or receive one or more of sensing data from thesensing module 1402, processing results produced by the processing unit1404, predetermined control data, user commands from a terminal orremote controller, and the like.

The components of the system 1400 can be arranged in any suitableconfiguration. For example, one or more of the components of the system1400 can be located on the movable object, carrier, payload, terminal,sensing system, or an additional external device in communication withone or more of the above. Additionally, although FIG. 14 depicts asingle processing unit 1404 and a single non-transitory computerreadable medium 1406, one of skill in the art would appreciate that thisis not intended to be limiting, and that the system 1400 can include aplurality of processing units and/or non-transitory computer readablemedia. In some embodiments, one or more of the plurality of processingunits and/or non-transitory computer readable media can be situated atdifferent locations, such as on the movable object, carrier, payload,terminal, sensing module, additional external device in communicationwith one or more of the above, or suitable combinations thereof, suchthat any suitable aspect of the processing and/or memory functionsperformed by the system 1400 can occur at one or more of theaforementioned locations.

While some embodiments of the present disclosure have been shown anddescribed herein, it will be obvious to those skilled in the art thatsuch embodiments are provided by way of example only. Numerousvariations, changes, and substitutions will now occur to those skilledin the art without departing from the disclosure. It should beunderstood that various alternatives to the embodiments of thedisclosure described herein may be employed in practicing thedisclosure. It is intended that the following claims define the scope ofthe invention and that methods and structures within the scope of theseclaims and their equivalents be covered thereby.

What is claimed is:
 1. An apparatus for supporting a payload, theapparatus comprising: a payload mount configured to be coupled to thepayload to secure the payload; a first support member coupled to thepayload mount, wherein the first support member comprises a firstactuation unit configured to rotate the payload mount around a firstrotational axis relative to the first support member; a second supportmember coupled to the first support member, wherein the second supportmember comprises a second actuation unit configured to rotate the firstsupport member around a second rotational axis relative to the secondsupport member; and a single flexible member comprising a branchedconfiguration and configured to be electrically coupled to the payloadmount, the first actuation unit, and the second actuation unit, whereinthe first support member or the second support member comprises awinding portion configured to engage the single flexible member.
 2. Theapparatus of claim 1, wherein a perimeter of the winding portion isselected based on a minimum bending radius of the single flexiblemember, and the minimum bending radius is associated with materialproperties of the single flexible member.
 3. The apparatus of claim 1,wherein the winding portion comprises at least a cavity, and the cavityis configured to receive at least a portion of the single flexiblemember when the payload mount is rotated around the first rotationalaxis or when the first support member is rotated around the secondrotational axis.
 4. The apparatus of claim 3, wherein the windingportion further comprises a shaft disposed within the cavity, and thesingle flexible member is configured to wind and unwind around the shaftwhen the payload mount is rotated around the first rotational axis orwhen the first support member is rotated around the second rotationalaxis.
 5. The apparatus of claim 1, wherein the branched configurationincludes a first end that is electrically coupled to the payload mount,a second end that is electrically coupled to the first actuation unit,and a third end that is electrically coupled to the second actuationunit.
 6. The apparatus of claim 5, wherein the single flexible membercomprises a first connection portion connecting the first end and thesecond end, and at least a portion of the first connection portion isconfigured to (i) wind around a portion of the payload mount or thefirst support member when the payload mount is rotated in a firstdirection around the first rotational axis, and (ii) unwind from theportion of the payload mount or the first support member when thepayload mount is rotated in a second direction opposite to the firstdirection around the first rotational axis.
 7. The apparatus of claim 5,wherein the single flexible member comprises a second connection portionconnecting the second end and the third end, and at least a portion ofthe second connection portion is configured to (i) wind around a portionof the first support member or the second support member when the firstsupport member is rotated in a first direction around the secondrotational axis, and (ii) unwind from the portion of the first supportmember or the second support member when the first support member isrotated in a second direction opposite to the first direction around thesecond rotational axis.
 8. The apparatus of claim 1, wherein the firstrotational axis and the second rotational axis are selected from two ofthe following: a roll axis, a pitch axis, and a yaw axis.
 9. Theapparatus of claim 1, wherein the single flexible member is configuredto transmit at least one of a power signal, payload data, sensor data,or control data between the payload, the payload mount, the firstsupport member, and the second support member.
 10. The apparatus ofclaim 1, further comprising: a plurality of sensors integrated in thepayload mount, the first support member, or the second support member,wherein the plurality of sensors are configured to provide feedbacksignals to control a state of the payload, a rotation of the payloadmount around the first rotational axis, or a rotation of the firstsupport member around the second rotational axis.
 11. An unmanned aerialvehicle (UAV), comprising: a propulsion system; a payload mountconfigured to be coupled to a payload to secure the payload; a firstsupport member coupled to the payload mount, wherein the first supportmember comprises a first actuation unit configured to rotate the payloadmount around a first rotational axis relative to the first supportmember; a second support member coupled to the first support member,wherein the second support member comprises a second actuation unitconfigured to rotate the first support member around a second rotationalaxis relative to the second support member; a single flexible membercomprising a branched configuration and configured to electricallycoupled to the payload mount, the first actuation unit, and the secondactuation unit, wherein the first support member or the second supportmember comprises a winding portion configured to engage the singleflexible member; and a controller configured to control the propulsionsystem, and to control the payload, the payload mount, the first supportmember, or the second support member using the single flexible member.12. The UAV of claim 11, wherein a perimeter of the winding portion isselected based on a minimum bending radius of the single flexiblemember, and the minimum bending radius is associated with materialproperties of the single flexible member.
 13. The UAV of claim 11,wherein the branched configuration includes a first end that iselectrically coupled to the payload mount, a second end that iselectrically coupled to the first actuation unit, and a third end thatis electrically coupled to the second actuation unit.
 14. The UAV ofclaim 11, wherein the single flexible member is configured to transmitat least one of a power signal, payload data, sensor data, or controldata between the payload, the payload mount, the first support member,and the second support member.
 15. The UAV of claim 11, wherein thesingle flexible member is further electrically coupled to thecontroller, and the controller is configured to transmit control data toat least one of the payload, the payload mount, the first supportmember, and the second support member using the single flexible member.16. An apparatus, comprising: a payload; a first support member coupledto the payload, wherein the first support member comprises a firstactuation unit configured to rotate the payload around a firstrotational axis relative to the first support member; and a singleflexible member comprising a branched configuration and configured to beelectrically coupled to the payload and the first actuation unit,wherein the first support member comprises a winding portion configuredto engage the single flexible member, and a perimeter of the windingportion is selected based on a minimum bending radius of the singleflexible member.
 17. The apparatus of claim 16, wherein the windingportion comprises at least a cavity, and the cavity is configured toreceive at least a portion of the single flexible member when thepayload is rotated around the first rotational axis.
 18. The apparatusof claim 17, wherein the winding portion further comprises a shaftdisposed within the cavity, and the single flexible member is configuredto wind and unwind around the shaft when the payload is rotated aroundthe first rotational axis.
 19. The apparatus of claim 16, furthercomprising: a second support member coupled to the first support member,wherein the second support member comprises a second actuation unitconfigured to rotate the first support member around a second rotationalaxis relative to the second support member.
 20. The apparatus of claim19, wherein the branched configuration includes a first end that iselectrically coupled to the payload, a second end that is electricallycoupled to the first actuation unit, and a third end that iselectrically coupled to the second actuation unit.